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  1. Server
  2. ======
  3.  
  4. $ linuxcnc /home/pi/linuxcnc/configs/test1_server/test1.ini
  5. LINUXCNC - 2.10.0~pre0
  6. Machine configuration directory is '/home/pi/linuxcnc/configs/test1_server'
  7. Machine configuration file is 'test1.ini'
  8. Starting LinuxCNC...
  9. (time=1696333668.729680,pid=923052): Registering server on TCP port 5005.
  10. (time=1696333668.733237,pid=923052): running server for TCP port 5005 (connection_socket = 3).
  11. linuxcnc TPMOD=tpmod HOMEMOD=homemod EMCMOT=motmod
  12. Note: Using POSIX non-realtime
  13. Found file(REL): ./test1.hal
  14. Raspberry Pi 4 Model B Rev 1.5 found
  15. 4 cores rev 17
  16. rpi 4 detected
  17. HAL_PI_GPIO: installed driver
  18. STEPGEN: installed 3 step pulse generators
  19. PWMGEN: installed 1 PWM/PDM generators
  20. Found file(REL): ./custom.hal
  21. MOTION: setting Traj cycle time to 105000 nsecs
  22. MOTION: setting Servo cycle time to 0 nsecs
  23. task: machine: 'test1' version 'unknown'
  24. DUMMY DISPLAY MODULE, press <ENTER> to continue.
  25. emcTaskOnce: Python plugin configured
  26. emcTaskOnce: extract(task_instance): KeyError: 'task'
  27. emcTaskOnce: no Python Task() instance available, using default iocontrol-based task methods
  28. emcTrajSetJoints(3) returned 0
  29. emcTrajSetSpindles(1) returned 0
  30. emcTrajSetAxes(3, 7)
  31. emcTrajSetUnits(1.0000, 1.0000)
  32. emcTrajSetVelocity(0.0000, 2.5000) returned 0
  33. emcTrajSetMaxVelocity(25.0000) returned 0
  34. emcTrajSetAcceleration(1e+99) returned 0
  35. emcTrajSetMaxAcceleration(1e+99)
  36. emcTrajSetHome(0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000) returned 0
  37. emcJointSetType(0, 1)
  38. emcJointSetUnits(0, 1.0000)
  39. emcJointSetBacklash(0, 0.0000) returned 0
  40. emcJointSetMinPositionLimit(0, -0.001) returned 0
  41. emcJointSetMaxPositionLimit(0, 259) returned 0
  42. emcJointSetFerror(0, 1.0000) returned 0
  43. emcJointSetMinFerror(0, 0.2500) returned 0
  44. emcJointSetHomingParams(0, 0.0000, 0.0000, -1.0000, 0.0000, 0.0000, 0, 0, 0, 999, 0) returned 0
  45. emcJointSetMaxVelocity(0, 23.7502) returned 0
  46. emcJointSetMaxAcceleration(0, 750) returned 0
  47. emcJointActivate(0) returned 0
  48. emcJointSetType(1, 1)
  49. emcJointSetUnits(1, 1.0000)
  50. emcJointSetBacklash(1, 0.0000) returned 0
  51. emcJointSetMinPositionLimit(1, -0.001) returned 0
  52. emcJointSetMaxPositionLimit(1, 170) returned 0
  53. emcJointSetFerror(1, 1.0000) returned 0
  54. emcJointSetMinFerror(1, 0.2500) returned 0
  55. emcJointSetHomingParams(1, 0.0000, 0.0000, -1.0000, 0.0000, 0.0000, 0, 0, 0, 999, 0) returned 0
  56. emcJointSetMaxVelocity(1, 23.7502) returned 0
  57. emcJointSetMaxAcceleration(1, 750) returned 0
  58. emcJointActivate(1) returned 0
  59. emcJointSetType(2, 1)
  60. emcJointSetUnits(2, 1.0000)
  61. emcJointSetBacklash(2, 0.0000) returned 0
  62. emcJointSetMinPositionLimit(2, -0.001) returned 0
  63. emcJointSetMaxPositionLimit(2, 40) returned 0
  64. emcJointSetFerror(2, 1.0000) returned 0
  65. emcJointSetMinFerror(2, 0.2500) returned 0
  66. emcJointSetHomingParams(2, 0.0000, 0.0000, -1.0000, 0.0000, 0.0000, 0, 0, 0, 999, 0) returned 0
  67. emcJointSetMaxVelocity(2, 23.7502) returned 0
  68. emcJointSetMaxAcceleration(2, 750) returned 0
  69. emcJointActivate(2) returned 0
  70. emcAxisSetMinPositionLimit(0, -0.0010) returned 0
  71. emcAxisSetMaxPositionLimit(0, 259.0000) returned 0
  72. emcAxisSetMaxVelocity(0, 23.7502) returned 0
  73. emcAxisSetMaxAcceleration(0, 750.0000) returned 0
  74. emcAxisSetLockingJoint(0, -1) returned 0
  75. emcAxisSetMinPositionLimit(1, -0.0010) returned 0
  76. emcAxisSetMaxPositionLimit(1, 160.0000) returned 0
  77. emcAxisSetMaxVelocity(1, 23.7502) returned 0
  78. emcAxisSetMaxAcceleration(1, 750.0000) returned 0
  79. emcAxisSetLockingJoint(1, -1) returned 0
  80. emcAxisSetMinPositionLimit(2, -0.0010) returned 0
  81. emcAxisSetMaxPositionLimit(2, 40.0000) returned 0
  82. emcAxisSetMaxVelocity(2, 23.7502) returned 0
  83. emcAxisSetMaxAcceleration(2, 750.0000) returned 0
  84. emcAxisSetLockingJoint(2, -1) returned 0
  85. emcSpindleSetParams(0, 1.000000e+99, 0.000000e+00, 0.000000e+00, -1.000000e+99, 0.000000, 0.000000, 0, 100.000000) returned 0
  86. NML_INTERP_LIST(0x55694bbbd8)::append(nml_msg_ptr{size=112,type=EMC_TRAJ_SET_TERM_COND}) : list_size=1, line_number=0
  87. NML_INTERP_LIST(0x55694bbbd8)::append(nml_msg_ptr{size=176,type=EMC_TRAJ_SET_G5X}) : list_size=2, line_number=0
  88. NML_INTERP_LIST(0x55694bbbd8)::append(nml_msg_ptr{size=168,type=EMC_TRAJ_SET_G92}) : list_size=3, line_number=0
  89. NML_INTERP_LIST(0x55694bbbd8)::append(nml_msg_ptr{size=104,type=EMC_TRAJ_SET_ROTATION}) : list_size=4, line_number=0
  90. emcTaskPlanInit() returned 0
  91. NML_INTERP_LIST(0x55694bbbd8)::get(): {size=112, type=EMC_TRAJ_SET_TERM_COND}, list_size=3
  92. emcTaskPlanLevel() returned 0
  93. Issuing EMC_TRAJ_SET_TERM_COND -- ( +222,+112, +0, +2,0.025400,)
  94. NML_INTERP_LIST(0x55694bbbd8)::get(): {size=176, type=EMC_TRAJ_SET_G5X}, list_size=2
  95. emcTaskPlanLevel() returned 0
  96. Issuing EMC_TRAJ_SET_G5X -- ( +224,+176, +0, +1,54.702235,41.663668,8.192091,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,)
  97. NML_INTERP_LIST(0x55694bbbd8)::get(): {size=168, type=EMC_TRAJ_SET_G92}, list_size=1
  98. emcTaskPlanLevel() returned 0
  99. Issuing EMC_TRAJ_SET_G92 -- ( +227,+168, +0,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,)
  100. NML_INTERP_LIST(0x55694bbbd8)::get(): {size=104, type=EMC_TRAJ_SET_ROTATION}, list_size=0
  101. emcTaskPlanLevel() returned 0
  102. Issuing EMC_TRAJ_SET_ROTATION -- ( +226,+104, +0,0.000000,)
  103.  
  104. ---------------------------------------------------------------------------------------------------------------------------
  105. # test1_server/test1.ini (works fine with DISPLAY = axis)
  106. [EMC]
  107. MACHINE = test1
  108. DEBUG = -1
  109. VERSION = 1.1
  110. NML_FILE = /home/pi/linuxcnc/configs/test1_server/server.nml
  111.  
  112. [DISPLAY]
  113. DISPLAY = dummy
  114.  
  115. [KINS]
  116. JOINTS = 3
  117. KINEMATICS = trivkins coordinates=XYZ
  118.  
  119. [FILTER]
  120. PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
  121. PROGRAM_EXTENSION = .py Python Script
  122. PROGRAM_EXTENSION = .nc,.tap G-Code File
  123. png = image-to-gcode
  124. gif = image-to-gcode
  125. jpg = image-to-gcode
  126. py = python
  127.  
  128. [TASK]
  129. TASK = milltask
  130. CYCLE_TIME = 0.010
  131.  
  132. [RS274NGC]
  133. PARAMETER_FILE = linuxcnc.var
  134.  
  135. [EMCMOT]
  136. EMCMOT = motmod
  137. COMM_TIMEOUT = 1.0
  138. #BASE_PERIOD=9000
  139. #SERVO_PERIOD=200000
  140. BASE_PERIOD = 35000
  141. SERVO_PERIOD = 100000
  142.  
  143. [HAL]
  144. HALFILE = test1.hal
  145. HALFILE = custom.hal
  146. POSTGUI_HALFILE = postgui_call_list.hal
  147.  
  148. [TRAJ]
  149. COORDINATES = X Y Z
  150. LINEAR_UNITS = mm
  151. ANGULAR_UNITS = degree
  152. DEFAULT_LINEAR_VELOCITY = 2.5
  153. MAX_LINEAR_VELOCITY = 25.00
  154.  
  155. [EMCIO]
  156. EMCIO = io
  157. CYCLE_TIME = 0.100
  158. TOOL_TABLE = tool.tbl
  159.  
  160. #*** AXIS_X *******************************
  161. [AXIS_X]
  162. MAX_VELOCITY = 23.750152000972808
  163. MAX_ACCELERATION = 750.0
  164. MIN_LIMIT = -0.001
  165. MAX_LIMIT = 259.0
  166.  
  167. [JOINT_0]
  168. TYPE = LINEAR
  169. HOME = 0.0
  170. MIN_LIMIT = -0.001
  171. MAX_LIMIT = 259.0
  172. MAX_VELOCITY = 23.750152000972808
  173. MAX_ACCELERATION = 750.0
  174. STEPGEN_MAXACCEL = 937.5
  175. SCALE = -1605.6
  176. FERROR = 1
  177. MIN_FERROR = .25
  178. HOME_OFFSET = 0.0
  179. #******************************************
  180.  
  181. #*** AXIS_Y *******************************
  182. [AXIS_Y]
  183. MAX_VELOCITY = 23.750152000972808
  184. MAX_ACCELERATION = 750.0
  185. MIN_LIMIT = -0.001
  186. MAX_LIMIT = 160.0
  187.  
  188. [JOINT_1]
  189. TYPE = LINEAR
  190. HOME = 0.0
  191. MIN_LIMIT = -0.001
  192. MAX_LIMIT = 170.0
  193. MAX_VELOCITY = 23.750152000972808
  194. MAX_ACCELERATION = 750.0
  195. STEPGEN_MAXACCEL = 937.5
  196. SCALE = 1610.5
  197. FERROR = 1
  198. MIN_FERROR = .25
  199. HOME_OFFSET = 0.0
  200. #******************************************
  201.  
  202. #*** AXIS_Z *******************************
  203. [AXIS_Z]
  204. MAX_VELOCITY = 23.750152000972808
  205. MAX_ACCELERATION = 750.0
  206. MIN_LIMIT = -0.001
  207. MAX_LIMIT = 40.0
  208.  
  209. [JOINT_2]
  210. TYPE = LINEAR
  211. HOME = 0.0
  212. MIN_LIMIT = -0.001
  213. MAX_LIMIT = 40.0
  214. MAX_VELOCITY = 23.750152000972808
  215. MAX_ACCELERATION = 750.0
  216. STEPGEN_MAXACCEL = 937.5
  217. SCALE = 1605
  218. FERROR = 1
  219. MIN_FERROR = .25
  220. HOME_OFFSET = 0.0
  221. #******************************************
  222.  
  223. ---------------------------------------------------------------------------------------------------------------------------
  224. # server.nml
  225. # Note: emcsvr is the master for all NML channels, and therefore is the
  226. # first to start.
  227.  
  228. # Buffers
  229. # Name Type Host size neut? (old) buffer# MP ---
  230.  
  231. # Top-level buffers to EMC
  232. B emcCommand SHMEM 192.168.2.156 8192 0 0 1 16 1001 TCP=5005 xdr queue confirm_write serial
  233. B emcError SHMEM 192.168.2.156 8192 0 0 3 16 1002 TCP=5005 xdr queue
  234. B emcStatus SHMEM 192.168.2.156 170000 0 0 2 16 1003 TCP=5005 xdr
  235.  
  236. # These are for the IO controller, EMCIO
  237. B toolCmd SHMEM 192.168.2.156 2048 0 0 4 16 1004 TCP=5005 xdr
  238. B toolSts SHMEM 192.168.2.156 155648 0 0 5 16 1005 TCP=5005 xdr
  239. B spindleCmd SHMEM 192.168.2.156 2048 0 0 6 16 1006 TCP=5005 xdr
  240. B spindleSts SHMEM 192.168.2.156 2048 0 0 7 16 1007 TCP=5005 xdr
  241.  
  242. # Processes
  243. # Name Buffer Type Host Ops server? timeout master? cnum
  244.  
  245. P emc emcCommand LOCAL 192.168.2.156 RW 0 1.0 0 0
  246. P emc emcStatus LOCAL 192.168.2.156 W 0 1.0 0 0
  247. P emc emcError LOCAL 192.168.2.156 W 0 1.0 0 0
  248. P emc toolCmd LOCAL 192.168.2.156 W 0 1.0 0 0
  249. P emc toolSts LOCAL 192.168.2.156 R 0 1.0 0 0
  250.  
  251. P emcsvr emcCommand LOCAL 192.168.2.156 W 1 1.0 1 2
  252. P emcsvr emcStatus LOCAL 192.168.2.156 R 1 1.0 1 2
  253. P emcsvr emcError LOCAL 192.168.2.156 R 1 1.0 1 2
  254. P emcsvr toolCmd LOCAL 192.168.2.156 W 1 1.0 1 2
  255. P emcsvr toolSts LOCAL 192.168.2.156 R 1 1.0 1 2
  256. P emcsvr default LOCAL 192.168.2.156 RW 1 1.0 1 2
  257.  
  258. P tool emcError LOCAL 192.168.2.156 W 0 1.0 0 3
  259. P tool toolCmd LOCAL 192.168.2.156 RW 0 1.0 0 3
  260. P tool toolSts LOCAL 192.168.2.156 W 0 1.0 0 3
  261.  
  262. P xemc emcCommand REMOTE 192.168.0.107 W 0 1.0 0 10
  263. P xemc emcStatus REMOTE 192.168.0.107 R 0 1.0 0 10
  264. P xemc emcError REMOTE 192.168.0.107 R 0 1.0 0 10
  265. P xemc toolCmd REMOTE 192.168.0.107 W 0 1.0 0 10
  266. P xemc toolSts REMOTE 192.168.0.107 R 0 1.0 0 10
  267.  
  268. ---------------------------------------------------------------------------------------------------------------------------
  269.  
  270. Client
  271. ======
  272.  
  273. $ linuxcncrsh -- -ini /home/user/linuxcnc/configs/test1_client/test1.ini
  274. (time=1696334292.539296,pid=1144709): 0x56367013d090 = NML::operator new(392)
  275. (time=1696334292.539331,pid=1144709): cms_config arguments:
  276. (time=1696334292.539337,pid=1144709): bufname = emcCommand
  277. (time=1696334292.539342,pid=1144709): procname = xemc
  278. (time=1696334292.539347,pid=1144709): filename = /home/user/linuxcnc/configs/test1_client/client.nml
  279. (time=1696334292.539391,pid=1144709): cms_config found buffer line on line 9
  280. (time=1696334292.539405,pid=1144709): cms_config found process line on line 37
  281. (time=1696334292.539424,pid=1144709): 0x56367013d710 = CMS::new(12344)
  282. (time=1696334292.539437,pid=1144709): new CMS (emcCommand)
  283. (time=1696334292.539457,pid=1144709): 0x563670140850 = data = calloc(8192,1);
  284. (time=1696334292.539486,pid=1144709): Using server on 192.168.2.156 with IP address 192.168.2.156 and port 5005.
  285. (time=1696334292.539495,pid=1144709): Creating socket . . .
  286. (time=1696334292.539506,pid=1144709): Setting socket options . . .
  287. (time=1696334292.539516,pid=1144709): Binding . . .
  288. (time=1696334292.539535,pid=1144709): Connecting . . .
  289. (time=1696334292.570513,pid=1144709): wrote 20 bytes to 4
  290. (time=1696334292.570591,pid=1144709): TCPMEM sending request: fd = 4, serial_number=1, request_type=12, buffer_number=1
  291. (time=1696334292.573950,pid=1144709): read 40 bytes from 4
  292. (time=1696334292.573986,pid=1144709): TCPMEM received_reply: fd = 4, serial_number=1, buffer_number=1
  293. (time=1696334292.574006,pid=1144709): 0x56367013d710 = new TCPMEM(B emcCommand SHMEM 192.168.2.156 8192 0 0 1 16 1001 TCP=5005 xdr queue confirm_write seri
  294. al
  295. ,P xemc emcCommand REMOTE 192.168.0.156 W 0 1.0 0 10(time=1696334292.574053,pid=1144709): 0x563670146cb0 = NML::operator new(392)
  296. (time=1696334292.574075,pid=1144709): cms_config arguments:
  297. (time=1696334292.574090,pid=1144709): bufname = emcStatus
  298. (time=1696334292.574104,pid=1144709): procname = xemc
  299. (time=1696334292.574118,pid=1144709): filename = /home/user/linuxcnc/configs/test1_client/client.nml
  300. (time=1696334292.574243,pid=1144709): cms_config found buffer line on line 11
  301. (time=1696334292.574281,pid=1144709): cms_config found process line on line 38
  302. (time=1696334292.574320,pid=1144709): 0x563670146e80 = CMS::new(12344)
  303. (time=1696334292.574343,pid=1144709): new CMS (emcStatus)
  304. (time=1696334292.574395,pid=1144709): 0x7f8746751010 = data = calloc(170000,1);
  305. (time=1696334292.574681,pid=1144709): Using server on 192.168.2.156 with IP address 192.168.2.156 and port 5005.
  306. (time=1696334292.574698,pid=1144709): Creating socket . . .
  307. (time=1696334292.574743,pid=1144709): Setting socket options . . .
  308. (time=1696334292.574765,pid=1144709): Binding . . .
  309. (time=1696334292.574787,pid=1144709): Connecting . . .
  310. (time=1696334292.577518,pid=1144709): wrote 20 bytes to 5
  311. (time=1696334292.577588,pid=1144709): TCPMEM sending request: fd = 5, serial_number=1, request_type=12, buffer_number=2
  312. (time=1696334292.581005,pid=1144709): read 40 bytes from 5
  313. (time=1696334292.581071,pid=1144709): TCPMEM received_reply: fd = 5, serial_number=1, buffer_number=2
  314. (time=1696334292.581103,pid=1144709): 0x563670146e80 = new TCPMEM(B emcStatus SHMEM 192.168.2.156 170000 0 0 2 16 1003 TCP=5005 xdr
  315. ,P xemc emcStatus REMOTE 192.168.0.156 R 0 1.0 0 10
  316. )
  317. (time=1696334292.581207,pid=1144709): wrote 20 bytes to 5
  318. (time=1696334292.585921,pid=1144709): read 20 bytes from 5
  319. (time=1696334292.585957,pid=1144709): TCPMEM received_reply: fd = 5, serial_number=2, buffer_number=2
  320. (time=1696334292.609678,pid=1144709): read 103884 bytes from 5
  321. (time=1696334292.609743,pid=1144709): 0x56367014a270 = NML::operator new(392)
  322. (time=1696334292.609753,pid=1144709): cms_config arguments:
  323. (time=1696334292.609757,pid=1144709): bufname = emcError
  324. (time=1696334292.609761,pid=1144709): procname = xemc
  325. (time=1696334292.609765,pid=1144709): filename = /home/user/linuxcnc/configs/test1_client/client.nml
  326. (time=1696334292.609823,pid=1144709): cms_config found buffer line on line 10
  327. (time=1696334292.609836,pid=1144709): cms_config found process line on line 39
  328. (time=1696334292.609855,pid=1144709): 0x56367014a510 = CMS::new(12344)
  329. (time=1696334292.609876,pid=1144709): new CMS (emcError)
  330. (time=1696334292.609898,pid=1144709): 0x56367014d5c0 = data = calloc(8192,1);
  331. (time=1696334292.609910,pid=1144709): Using server on 192.168.2.156 with IP address 192.168.2.156 and port 5005.
  332. (time=1696334292.609916,pid=1144709): Creating socket . . .
  333. (time=1696334292.609929,pid=1144709): Setting socket options . . .
  334. (time=1696334292.609937,pid=1144709): Binding . . .
  335. (time=1696334292.609945,pid=1144709): Connecting . . .
  336. (time=1696334292.612699,pid=1144709): wrote 20 bytes to 6
  337. (time=1696334292.612726,pid=1144709): TCPMEM sending request: fd = 6, serial_number=1, request_type=12, buffer_number=3
  338. (time=1696334292.616186,pid=1144709): read 40 bytes from 6
  339. (time=1696334292.616209,pid=1144709): TCPMEM received_reply: fd = 6, serial_number=1, buffer_number=3
  340. (time=1696334292.616217,pid=1144709): 0x56367014a510 = new TCPMEM(B emcError SHMEM 192.168.2.156 8192 0 0 3 16 1002 TCP=5005 xdr queue
  341. ,P xemc emcError REMOTE 192.168.0.156 R 0 1.0 0 10
  342. )
  343. (time=1696334292.616255,pid=1144709): wrote 20 bytes to 5
  344. (time=1696334292.620495,pid=1144709): read 20 bytes from 5
  345. (time=1696334292.620509,pid=1144709): TCPMEM received_reply: fd = 5, serial_number=3, buffer_number=2
  346. (time=1696334292.639883,pid=1144709): read 103884 bytes from 5
  347.  
  348.  
  349. ---------------------------------------------------------------------------------------------------------------------------
  350. # test1_client/test1.ini
  351.  
  352. [EMC]
  353. MACHINE = test1
  354. DEBUG = -1
  355. VERSION = 1.1
  356. NML_FILE = /home/user/linuxcnc/configs/test1_client/client.nml
  357.  
  358. [DISPLAY]
  359. #DISPLAY = axis
  360. DISPLAY = tklinuxcnc
  361. EDITOR = gedit
  362. POSITION_OFFSET = RELATIVE
  363. POSITION_FEEDBACK = ACTUAL
  364. ARCDIVISION = 64
  365. GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
  366. MAX_FEED_OVERRIDE = 2.0
  367. MIN_SPINDLE_OVERRIDE = 0.5
  368. MAX_SPINDLE_OVERRIDE = 1.5
  369. DEFAULT_LINEAR_VELOCITY = 3.50
  370. MIN_LINEAR_VELOCITY = 0
  371. MAX_LINEAR_VELOCITY = 25.00
  372. CYCLE_TIME = 0.100
  373. INTRO_GRAPHIC = linuxcnc.gif
  374. INTRO_TIME = 5
  375. PROGRAM_PREFIX = /home/pi/linuxcnc/nc_files
  376. INCREMENTS = 10mm 5mm 1mm .5mm .1mm .05mm .01mm .005mm
  377.  
  378. [KINS]
  379. JOINTS = 3
  380. KINEMATICS = trivkins coordinates=XYZ
  381.  
  382. [FILTER]
  383. PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
  384. PROGRAM_EXTENSION = .py Python Script
  385. PROGRAM_EXTENSION = .nc,.tap G-Code File
  386. png = image-to-gcode
  387. gif = image-to-gcode
  388. jpg = image-to-gcode
  389. py = python
  390.  
  391. [TASK]
  392. #TASK = linuxcnctask
  393. TASK = milltask
  394. CYCLE_TIME = 1.000
  395.  
  396. [RS274NGC]
  397. PARAMETER_FILE = linuxcnc.var
  398.  
  399. [EMCMOT]
  400. EMCMOT = motmod
  401. COMM_TIMEOUT = 1.0
  402. #BASE_PERIOD=9000
  403. #SERVO_PERIOD=200000
  404. BASE_PERIOD = 35000
  405. SERVO_PERIOD = 100000
  406.  
  407. [HAL]
  408. #HALFILE = test1.hal
  409. #HALFILE = custom.hal
  410. HALFILE = LIB:basic_sim.tcl
  411. POSTGUI_HALFILE = postgui_call_list.hal
  412.  
  413. [TRAJ]
  414. COORDINATES = X Y Z
  415. LINEAR_UNITS = mm
  416. ANGULAR_UNITS = degree
  417. DEFAULT_LINEAR_VELOCITY = 2.5
  418. MAX_LINEAR_VELOCITY = 25.00
  419.  
  420. #[EMCIO]
  421. #EMCIO = io
  422. #CYCLE_TIME = 0.100
  423. #TOOL_TABLE = tool.tbl
  424.  
  425. #*** AXIS_X *******************************
  426. [AXIS_X]
  427. MAX_VELOCITY = 23.750152000972808
  428. MAX_ACCELERATION = 750.0
  429. MIN_LIMIT = -0.001
  430. MAX_LIMIT = 269.0
  431.  
  432. [JOINT_0]
  433. TYPE = LINEAR
  434. HOME = 0.0
  435. MIN_LIMIT = -0.001
  436. MAX_LIMIT = 269.0
  437. MAX_VELOCITY = 23.750152000972808
  438. MAX_ACCELERATION = 750.0
  439. STEPGEN_MAXACCEL = 937.5
  440. SCALE = -1605.6
  441. FERROR = 1
  442. MIN_FERROR = .25
  443. HOME_OFFSET = 0.0
  444. #******************************************
  445.  
  446. #*** AXIS_Y *******************************
  447. [AXIS_Y]
  448. MAX_VELOCITY = 23.750152000972808
  449. MAX_ACCELERATION = 750.0
  450. MIN_LIMIT = -0.001
  451. MAX_LIMIT = 160.0
  452.  
  453. [JOINT_1]
  454. TYPE = LINEAR
  455. HOME = 0.0
  456. MIN_LIMIT = -0.001
  457. MAX_LIMIT = 170.0
  458. MAX_VELOCITY = 23.750152000972808
  459. MAX_ACCELERATION = 750.0
  460. STEPGEN_MAXACCEL = 937.5
  461. SCALE = 1610.5
  462. FERROR = 1
  463. MIN_FERROR = .25
  464. HOME_OFFSET = 0.0
  465. #******************************************
  466.  
  467. #*** AXIS_Z *******************************
  468. [AXIS_Z]
  469. MAX_VELOCITY = 23.750152000972808
  470. MAX_ACCELERATION = 750.0
  471. MIN_LIMIT = -0.001
  472. MAX_LIMIT = 40.0
  473.  
  474. [JOINT_2]
  475. TYPE = LINEAR
  476. HOME = 0.0
  477. MIN_LIMIT = -0.001
  478. MAX_LIMIT = 40.0
  479. MAX_VELOCITY = 23.750152000972808
  480. MAX_ACCELERATION = 750.0
  481. STEPGEN_MAXACCEL = 937.5
  482. SCALE = 1605
  483. FERROR = 1
  484. MIN_FERROR = .25
  485. HOME_OFFSET = 0.0
  486. #******************************************
  487.  
  488. ---------------------------------------------------------------------------------------------------------------------------
  489. # client.nml
  490.  
  491. # Note: emcsvr is the master for all NML channels, and therefore is the
  492. # first to start.
  493.  
  494. # Buffers
  495. # Name Type Host size neut? (old) buffer# MP ---
  496.  
  497. # Top-level buffers to EMC
  498. B emcCommand SHMEM 192.168.2.156 8192 0 0 1 16 1001 TCP=5005 xdr queue confirm_write serial
  499. B emcError SHMEM 192.168.2.156 8192 0 0 3 16 1002 TCP=5005 xdr queue
  500. B emcStatus SHMEM 192.168.2.156 170000 0 0 2 16 1003 TCP=5005 xdr
  501.  
  502. # These are for the IO controller, EMCIO
  503. B toolCmd SHMEM 192.168.2.156 2048 0 0 4 16 1004 TCP=5005 xdr
  504. B toolSts SHMEM 192.168.2.156 155648 0 0 5 16 1005 TCP=5005 xdr
  505.  
  506. # Processes
  507. # Name Buffer Type Host Ops server? timeout master? cnum
  508.  
  509. P tool emcError REMOTE 192.168.2.156 W 0 1.0 0 3
  510. P tool toolCmd REMOTE 192.168.2.156 R 0 1.0 0 3
  511. P tool toolSts REMOTE 192.168.2.156 W 0 1.0 0 3
  512.  
  513. P xemc emcCommand REMOTE 192.168.0.156 W 0 1.0 0 10
  514. P xemc emcStatus REMOTE 192.168.0.156 R 0 1.0 0 10
  515. P xemc emcError REMOTE 192.168.0.156 R 0 1.0 0 10
  516. P xemc toolCmd REMOTE 192.168.2.156 W 0 1.0 0 10
  517. P xemc toolSts REMOTE 192.168.2.156 R 0 1.0 0 10
  518.  
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